Apparatus and method for addressing modules in a system for controlling the release of material

ABSTRACT

A method includes receiving a token over a token line at a first control module and, in response to receiving the token, receiving a first address. The first control module is configured to control one or more first actuators. The method also includes using the first address for communications over a communication line and identifying a second address. The method further includes providing the token over the token line to a second control module, where the second control module is configured to control one or more second actuators. In addition, the method includes providing the second address to the second control module in response to the second control module receiving the token.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. §119(e) to U.S.Provisional Patent Application No. 60/966,127 filed on Aug. 24, 2007,which is hereby incorporated by reference.

TECHNICAL FIELD

This disclosure is generally directed to spraying and other distributionsystems and more specifically to an apparatus and method for addressingmodules in a system for controlling the release of material.

BACKGROUND

Agricultural entities and other entities often need to precisely applymaterials (such as fertilizers, pesticides, weed killers, water, seeds,plants, or paint) to exact or near exact locations. For example, thiscould involve the use of large vehicles on farms or other agriculturalfacilities. In this example, each of these vehicles could include a tankof material to be released and long arms (called “booms”) containing anumber of nozzles through which the material is released. As anotherexample, this could involve the use of large vehicles on roads, runways,parking lots, or other areas. In this example, the vehicles may includemechanisms for releasing paint onto the roads, runways, parking lots, orother areas. These types of systems typically include actuators thatcontrol the flow of materials to be released, such as by allowing orblocking the flow of material into the nozzles.

SUMMARY

This disclosure provides an apparatus and method for addressing modulesin a system for controlling the release of material.

In a first embodiment, a method includes receiving a token over a tokenline at a first control module and, in response to receiving the token,receiving a first address. The first control module is configured tocontrol one or more first actuators. The method also includes using thefirst address for communications over a communication line andidentifying a second address. The method further includes providing thetoken over the token line to a second control module, where the secondcontrol module is configured to control one or more second actuators. Inaddition, the method includes providing the second address to the secondcontrol module in response to the second control module receiving thetoken.

In particular embodiments, the method also includes using the secondaddress at the second control module for communications over thecommunication line and identifying a third address. The method furtherincludes providing the token over the token line to a third controlmodule and providing the third address to the third control module inresponse to the third control module receiving the token. The firstcontrol module could be prevented from receiving the token from thesecond control module.

In other particular embodiments, identifying the second address includesincrementing the first address to produce the second address.

In yet other particular embodiments, the method also includes receivinga ping over the communication line, where the ping is directed to thefirst address. A current software version associated with the firstcontrol module could be communicated in response to the ping, and asoftware update could be received.

In still other particular embodiments, the method also includesreceiving control signals at the first and second control modules. Thecontrol signals are directed to the first and second control modulesusing the first and second addresses. The method further includesopening and closing the first and second actuators based on the controlsignals.

In a second embodiment, a system includes multiple actuators configuredto release a material, multiple control modules configured to controlthe actuators, and a token line and a communication line coupling thecontrol modules. At least one of the control modules is configured toreceive a token over the token line, receive a first address in responseto receiving the token, and use the first address for communicationsover the communication line. At least one of the control modules is alsoconfigured to identify a second address, provide the token over thetoken line to another of the control modules, and provide the secondaddress to the other control module that receives the token.

In a third embodiment, an apparatus includes a controller and aninterface. The controller is configured to control one or more firstactuators, receive a first address in response to receiving a token overa token line, and use the first address for communications over acommunication line. The controller is also configured to identify asecond address and to provide the token over the token line and providethe second address over the communication line to a second apparatus.The second apparatus is configured to control one or more secondactuators. The interface is configured to communicate over the token andcommunication lines.

Other technical features may be readily apparent to one skilled in theart from the following figures, descriptions, and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of this disclosure and its features,reference is now made to the following description, taken in conjunctionwith the accompanying drawings, in which:

FIG. 1 illustrates an example system for releasing a material accordingto this disclosure;

FIGS. 2A through 2D illustrate an example actuator according to thisdisclosure;

FIG. 3 illustrates an example cross section of the actuator in FIGS. 2Athrough 2D according to this disclosure;

FIG. 4 illustrates an example method for controlling a release of amaterial according to this disclosure;

FIG. 5 illustrates an example method for controlling a material flowusing an actuator according to this disclosure;

FIG. 6 illustrates an example method for controlling a pump using asimulated vehicle speed according to this disclosure;

FIG. 7 illustrates an example method for assigning addresses to controlmodules in a system for releasing a material according to thisdisclosure; and

FIG. 8 illustrates an example control module according to thisdisclosure.

DETAILED DESCRIPTION

FIGS. 1 through 8, discussed below, and the various embodiments used todescribe the principles of the present invention in this patent documentare by way of illustration only and should not be construed in any wayto limit the scope of the invention. Those skilled in the art willunderstand that the principles of the invention may be implemented inany type of suitably arranged device or system.

FIG. 1 illustrates an example system 100 for releasing a materialaccording to this disclosure. The embodiment of the system 100 shown inFIG. 1 is for illustration only. Other embodiments of the system 100 maybe used without departing from the scope of this disclosure.

In this example, the system 100 includes a global positioning system(GPS) receiver 102. The GPS receiver 102 receives GPS signals from GPSsatellites, allowing the system 100 to determine its location. Forinstance, the system 100 could be placed on a vehicle and used torelease one or more materials in a field, to spray paint on a road, orto otherwise release any suitable material(s) in any suitable area(s).In these embodiments, the GPS receiver 102 allows the system 100 totrack the position of the vehicle. This may allow, for example, thesystem 100 to ensure that the material is released at the appropriatelocations. It may also allow the system 100 to avoid releasing thematerial in areas where the material has already been released. The GPSreceiver 102 includes any suitable structure for receiving GPS signals.In other embodiments, other types of positioning technology could beused by the system 100, such as ultra wide band (UWB) or otherpositioning technology. Also, other types of positioning technologycould supplement the use of GPS.

The GPS receiver 102 is coupled to a processing device 104. Theprocessing device 104 determines the location of the system 100, such asthe location of a vehicle on which the system 100 is used. Theprocessing device 104 also determines when the system 100 should releasematerial based on the identified location of the system 100. Forexample, the processing device 104 could receive GPS signals from theGPS receiver 102, determine the location of the system 100, anddetermine whether the location is one where material needs to bereleased. The processing device 104 could also determine whethermaterial has already been released by the system 100 at that location,and the release of the material could be blocked in those locationswhere it has already been released. The processing device 104 could thenoutput signals indicative of whether the system 100 should or should notrelease material in a particular area. The processing device 104 couldinclude additional functionality or components, such as a radiofrequency or other wireless transceiver that allows wirelesscommunications between the processing device 104 and the system 100. Theprocessing device 104 could perform any other or additionalfunctionality for controlling the overall operation of the system 100.The processing device 104 includes any hardware, software, firmware, orcombination thereof for controlling the system 100, such as a handheldcomputer or other handheld or portable device. As a particular example,the processing device 104 could include: one or more processors; one ormore memories storing instructions and data used, collected, orgenerated by the processors; and one or more interfaces, such as awireless interface or an RS-232 or Controller Area Network (CAN) bus.

The GPS receiver 102 is coupled to the processing device 104 by a cable106. The cable 106 represents any suitable cable or other communicationlink for transporting signals between the GPS receiver 102 and theprocessing device 104. Although shown as a wired link, a wireless linkcould also be used between the GPS receiver 102 and the processingdevice 104.

A controller 108 controls the release of material by the system 100. Forexample, the controller 108 could control other components in the system100 (such as one or more actuators described below) to thereby controlthe release of material in a specified area. The controller 108 may usethe signals output by the processing device 104 to control the releaseof the material, such as by enabling the release of material when theprocessing device 104 identifies a particular area and disabling therelease of material when the processing device 104 determines thatmaterial has already been released in a particular area. The controller108 could provide any other or additional functionality, such asdetermining or estimating a speed of a vehicle on which the system isbeing used. The controller 108 includes any suitable structure forcontrolling the release of material by the system 100, such as amicroprocessor or microcontroller and one or more interfaces (like a CANbus interface).

The controller 108 is coupled to the processing device by a cable 110.The cable 110 represents any suitable cable or other communication linkfor transporting signals between the controller 108 and the processingdevice 104. Although shown as a wired link, a wireless link could alsobe used between the controller 108 and the processing device 104. Inthis example, the cable 110 is coupled to the controller 108 as part ofa larger control/data cable 112, which couples the controller 108 tovarious other components in the system 100.

A relay/circuit breaker assembly 114 transfers power from a power cable116 to a switched power cable 118. The power cable could, for example,be coupled to a battery, a voltage produced by a vehicle, or othersource of power. The relay/circuit breaker assembly 114 transfers powerfrom the power cable 116 to other components in the system 100 in acontrolled manner. The relay/circuit breaker assembly 114 also providesover-current protection for the system 100. The relay/circuit breakerassembly 114 includes any suitable structure for distributing power inthe system 100, such as one or multiple relays and circuit breakers.Each of the cables 116-118 represents any suitable cable or other linkfor transferring power. The relay/circuit breaker assembly 114 is alsocoupled to one or more switch cables 120, which may be coupled to one ormore switches in a vehicle or other location and allow manual controlover the supply of power to the system 100. For instance, each switchcould control the supply of power to a single boom or other structure.The switch cable 120 represents any suitable cable or othercommunication link for transferring signals.

Among other things, the relay/circuit breaker assembly 114 suppliespower to a power junction 122, which distributes power to various othercomponents of the system 100. For example, the power junction 122 may becoupled to a power cable 124, which is then coupled to a power bus 126.The power junction 122 includes any suitable structure for distributingpower. The power cable 124 represents any suitable cable or other linkfor transferring power. The power bus 126 includes any suitablestructure for providing power to multiple components, such as tomultiple components used to control the release of a material. Inparticular embodiment, the power bus 126 is associated with one boom orother structure of a vehicle used to release a material, and multiplebooms or other structures could be used on the vehicle (along withmultiple power buses 126 and other components for distributing power tothe booms or other structures).

In this example, the controller 108 can transmit or receive informationthrough a wireless junction 128. For instance, the wireless junction 128can transmit information to or receive information from external devicesand systems. As a particular example, the processing device 104 couldrepresent a handheld or other portable device that can be physicallydisconnected from the system 100. Once removed, the processing device104 could still communicate wirelessly with the controller 108 throughthe wireless junction 128. As a particular example, a user coulddisconnect the processing device 104 and move into a position whereindividual actuators 134 (described below) can be viewed andindividually activated and deactivated, allowing testing and maintenanceof the system 100. The wireless junction 128 includes any suitablestructure for transmitting and/or receiving wireless signals, such as aradio frequency transceiver.

The controller 108 is coupled to the wireless junction 128 by a cable130. The cable 130 represents any suitable cable or other communicationlink for transporting signals between the controller 108 and thewireless junction 128. The cable 130 could also be used to transportpower from the controller 108 to control modules 136 (described below).Although shown as a wired link, a wireless link could also be usedbetween the controller 108 and the wireless junction 128. In thisexample, the cable 130 is coupled to the wireless junction 128 as partof a larger cable 132, which couples the wireless junction 128 tovarious other components in the system 100.

In this example embodiment, the release of material is carried out usingactuators 134. The actuators 134 can be opened and closed to control theflow of material through the actuators 134, thereby controlling therelease of the material. Each of the actuators 134 includes any suitablestructure for controlling the flow of material, such as a valve assemblyor other actuator with a solenoid that controls the movement of aplunger. One example embodiment of the actuators 134 is shown in FIGS.2A through 2D, which are described below.

Control modules 136 are used to control the actuators 134. For example,each of the control modules 136 may receive control signals from thecontroller 108 that indicate whether its associated actuator oractuators 134 should be closed or opened (and optionally to whatextent). The control modules 136 then send appropriate signals to theactuators 134 to open or close the actuators 134. The control modules136 may also receive operating power from the power bus 126 or from acable 138. Each of the control modules 136 includes any suitablestructure for controlling one or more actuators. In this example, eachcontrol module 136 controls two actuators 134, although each controlmodule 136 could control any suitable number of actuators 134 (includinga single actuator 134).

As shown here, the cable 138 couples the control modules 136 to thecontroller 108. The cable 138 represents any suitable cable or othercommunication link for transporting signals between the controller 108and the control modules 136. The cable 138 could also be used totransport power from the controller 108 to the control modules 136.Although shown as a wired link, a wireless link could also be usedbetween the controller 108 and the control modules 136.

In some embodiments, the system 100 can be incorporated into or onto avehicle containing a tank or other container for a liquid (such asfertilizer, pesticide, water, chemical, or paint), seeds, plants, orother material to be released. In particular embodiments, the vehiclemay include multiple booms or other structures carrying a large numberof actuators 134 and control modules 136. As a particular example, thevehicle could include six booms with a total of fifty four actuators 134and twenty seven control modules 136, with one power bus 126 per boom,one power cable 124 per boom, and one cable 138 per boom.

In one aspect of operation, the system 100 operates to ensure thatmaterial is released in appropriate areas. For example, the system 100can use GPS or other location-sensing technology to identify the currentposition of a vehicle or other object carrying the actuators 134. Thesystem 100 could use this current position to determine whether materialshould be released, such as by using a map of intended areas anddetermining whether the actuators 134 are currently at those any ofthose intended areas. The system 100 could also use this currentposition to determine whether material has already been released in anarea and to prevent a subsequent release of material in that area.

In another aspect of operation, each of the actuators 134 may include apressure plate and a plunger. The pressure plate includes a first holethat allows pressure to be equal or approximately equal on both sides ofthe pressure plate when the actuator 134 is closed. The pressure platealso includes a second hole that is blocked by the plunger when theactuator 134 is closed. To open the actuator 134, the plunger is removedfrom the pressure plate, exposing the second hole in the plunger plate.This allows pressure on one side of the pressure plate to fall, therebyallowing the higher pressure on the other side of the pressure plate tomove the pressure plate and open the actuator 134 (which allows releaseof material to occur). To close the actuator 134, the plunger is allowedto contact the pressure plate, which blocks the second hole in thepressure plate. This allows pressure on both sides of the pressure plateto equalize, and a spring can move the pressure plate back into itsclosed position. In this way, large metallic plungers may not berequired in the actuator 134, and the material could be released underhigher pressure, allowing an increase in the flow rate of the material.

In yet another aspect of operation, individual actuators 134 can beopened and closed in the system 100 (and the amount of opening couldvary). The controller 108 or the processing device 104 simulates a speedof a vehicle that is releasing material, and the simulated speed isprovided to another controller (not shown). The other controller usesthe simulated speed to predict or control an amount of material providedby a pump to the actuators 134. The controller 108 or the processingdevice 104 can adjust the simulated speed based on how many of theactuators 134 are opened or closed (and to what extent the actuators 134are opened). In this way, the amount of material provided by the pumpcan be more accurately predicted or controlled.

In still another aspect of operation, the control modules 136 receiveaddresses that are used for communications with the controller 108.These addresses can be assigned in the system 100 automatically, such asby executing an application on the processing device 104. A token linecoupled to the control modules 136 (such as in the cable 138) can beused to individually identify the control modules 136 and to assignaddresses to the control modules 136. As a result, operators of thesystem 100 are not required to use dip switches or other structures toindividually assign addresses to the control modules 136. Additionaldetails regarding this functionality is provided below.

Although FIG. 1 illustrates one example of a system 100 for releasing amaterial, various changes may be made to FIG. 1. For example, the system100 could include any suitable number of each of the components inFIG. 1. Also, various components in FIG. 1 could be combined or omittedand additional components could be added according to particular needs(such as by combining the processing device 104 and the controller 108or by omitting the wireless junction 128). Further, power can bedistributed in any suitable manner in the system 100. In addition, FIG.1 illustrates one operational environment in which the release of amaterial is controlled. This functionality could be used in any othersuitable system or device. As particular examples, this functionalitycould be used to control the release of material by agriculturalequipment, the spraying of paint or other material by a constructionvehicle, or the release of any other material(s) in any suitablearea(s).

FIGS. 2A through 2D illustrate an example actuator 134 according to thisdisclosure. The embodiment of the actuator 134 shown in FIGS. 2A through2D are for illustration only. Other embodiments of the actuator 134could be used without departing from the scope of this disclosure.

As shown in FIGS. 2A and 2B, the actuator 134 includes a coil 202, whichis used to form a solenoid in the actuator 134. The coil 202 is capableof generating a magnetic field based on electrical conduction throughthe coil 202. The coil 202 represents a coil having any suitable numberof turns formed from one or more conductive materials. The number ofturns in the coil 202 could, for instance, be selected to help optimizean amount of energy required by multiple actuators 134 in light of aparticular voltage used by the system 100 (such as 24V or 36V).

The coil 202 is coupled to two conductive wires 204, which are used toenergize the coil 202. The conductive wires 204 represent any suitablewires or other conductive connections, such as 18 gauge wires. The wires204 are coupled to a connector 206, which is used to couple the actuator134 to electrical lines (such as lines coupling the actuator 134 to acontrol module 136). The connector 206 includes any suitable structurefor coupling the actuator 134 to electrical lines, such as two femalecontacts and a POS tower.

The coil 202 is inserted into a coil housing 208. The coil housing 208represents any suitable structure for retaining or housing the coil 202.A valve housing 210 is used to house or retain a valve (shown in FIGS.2C and 2D) that controls a flow of material out of the actuator 134. Thevalve housing 210 is inserted through a valve keeper 212, the coilhousing 208, and the coil 202. The valve housing 210 includes anysuitable structure for retaining or housing a valve. The valve keeper212 represents any suitable structure for retaining or housing the valvehousing 210 and coupling or otherwise associating the valve housing 210and the coil housing 208.

A spacer 214 maintains a desired separation between the valve housing210 and the coil 202. The spacer 214 represents any suitable structurefor maintaining a desired separation between at least two elements.

A valve seat 216 is inserted through an O-ring 218 and into the valvehousing 210. In this example, the valve seat 216 includes a projectionthat can project out of a hole in the valve housing 210 and that can beinserted through a valve retainer 220. A snap ring 222 is secured to theend of the valve seat 216, securing the valve seat 216 within the coil202. The valve seat 216 includes any suitable structure for helping tosecure the valve housing 210 within the coil 202. The O-ring 218includes any suitable structure for creating a seal between the valvehousing 210 and the valve seat 216. The valve retainer 220 representsany suitable structure against which the valve housing 210 can besecured (to maintain the valve housing 210 within the coil 202). Thesnap ring 222 represents any suitable structure for securing the valveseat 216 to or against the valve retainer 220.

As shown in FIGS. 2C and 2D, a coil assembly 252 represents the variouscomponents (202, 208-222) shown in FIGS. 2A and 2B. A valve plunger 254can be inserted into the valve housing 210 of the coil assembly 252. Thevalve plunger 254 represents a component that can be moved within thevalve housing 210 by energizing the coil 202. The valve plunger 254could have any suitable shape and size allowing the valve plunger 254 tobe moved by the coil 202. The valve plunger 254 could also be formed ofany suitable material(s), such as one or more metals or plastics.Collectively, the coil housing 208, the valve seat 216, the valveretainer 220, and the valve plunger 254 are formed from one or morematerials suitable for providing a magnetic flux path that can causemovement of the plunger 254. Also, the valve housing 210 may be formedfrom one or more materials that do not substantially interfere with themagnetic flux path used to cause movement of the plunger 254.

A plunger tip 256 is inserted into a recess in or otherwise associatedwith the valve plunger 254. The plunger tip 256 can be used to form aseal against a pressure plate 264 (described below) when the valveplunger 254 is moved towards the pressure plate 264. The plunger tip 256could have any suitable shape and size and be formed from any suitablematerial(s), such as one or more compliant materials.

A plunger spring 258 helps to push the tip 256 of the valve plunger 254into the pressure plate 264 when the coil 202 is not energized. When thecoil 202 is energized, the valve plunger 254 pushes against the plungerspring 258 and moves away from the pressure plate 264. A pressure platespring 260 pushes against the pressure plate 264 and helps to close theactuator 134 until the coil 202 is energized and the actuator 134 isopened. Each of the springs 258-260 represents any suitable structurefor biasing a component in a particular position or direction.

A throttle plate 262 is inserted between the pressure plate spring 260and the pressure plate 264. The throttle plate 262 is used to provide apressure drop across the pressure plate 264. As described below, this isdone to facilitate opening and closing of the actuator 134. However, thethrottle plate 262 could be omitted by suitably controlling the sizes ofholes (described below) in the pressure plate 264.

The pressure plate 264 is used to block or permit the flow of materialout of the actuator 134. In this example, the pressure plate 264includes at least one first hole 266 and at least one second hole 268.The first hole 266 allows pressure to be equalized (equal orapproximately equal) on both sides of the pressure plate 264 when theactuator 134 is closed. For example, as described below, material to bereleased can be applied under pressure against one side of the pressureplate 264. The first hole 266 allows the pressure on both sides of thepressure plate 264 to be equal or approximately equal as long as thesecond hole 268 is blocked by the plunger tip 256. Removing the plungertip 256 from the second hole 268 allows the pressure on one side of thepressure plate 264 to drop, which allows movement of the pressure plate264 and opening of the actuator 134. The pressure plate 264 includes anysuitable structure capable of blocking or permitting the flow ofmaterial.

A retaining ring 270 helps to secure various components in the actuator134 in place, and a valve gasket 272 is inserted against the pressureplate 264. The valve gasket 272 is used to form a seal against thenozzle assembly 274 (described below) when the actuator 134 is closed,helping to prevent leakage of material. The retaining ring 270represents any suitable structure for securing components in theactuator 134. The valve gasket 272 represents any suitable structure forsealing against the nozzle assembly 274.

The nozzle assembly 274 is used to spray or otherwise release materialflowing through the actuator 134 into an external environment, such as afield, road, or other area. The nozzle assembly 274 represents anysuitable structure for spraying or otherwise releasing one or morematerials.

FIG. 3 illustrates an example cross section of the actuator 134 in FIGS.2A through 2D according to this disclosure. The cross section is takenalong the length of the actuator 134 as shown in FIGS. 2C and 2D. Thevarious components in the actuator 134 can be seen in the cross section.Also shown is a gap 302 between the valve seat 216 and the valve plunger254. When the actuator 134 is closed, the valve seat 216 is separatedfrom the valve plunger 254 by the gap 302. The gap 302 could have anysuitable width, such as a width less than or equal to 0.05 inches.

As shown here, a pump 304 is used to provide material, possibly underhigher pressure, to the actuator 134. The pump 304 could, for example,provide the material under a pressure of 60 pounds per square inch (PSI)or more to the actuator 134. The material provided by the pump 304 canbe stored in a tank or other container 306. Also, the pump 304 iscontrolled by a controller 308. Among other things, the controller 308can control the amount of material provided to the actuators 134 in thesystem 100 to ensure that a proper amount of material is released (suchas a specified amount of material per acre of land or a specified amountof paint per distance). The pump 304 includes any suitable structure forproviding material (possibly under pressure) to one or more actuators.The container 306 includes any suitable structure for storing materialto be released. The controller 308 includes any hardware, software,firmware, or combination thereof for controlling an amount of materialprovided by the pump 304.

As noted above, the material provided to the actuator 134 can be underhigher pressure. In this example, the material is provided to theactuator 134 along an outer ring of the pressure plate 264/valve gasket272 under higher pressure. When the actuator 134 is closed, a higherpressure is also created on the opposite side of the pressure plate 264(in the area around the valve plunger 254) due to the presence of thefirst hole 266. With equal or near equal pressure on both sides of thepressure plate 264, the pressure plate spring 260 helps to maintain thepressure plate 264 and valve gasket 272 against the nozzle assembly 274,blocking the material from exiting into the nozzle assembly 274 andpreventing the release of the material.

To open the actuator 134, the valve seat 216 is magnetized using thecoil 202. This pulls the valve plunger 254 towards the valve seat 216and away from the pressure plate 264, which exposes the second hole 268in the pressure plate 264. While the higher pressure remains on thefront side of the pressure plate 264 due to the pump 304, the pressureon the opposite side of the pressure plate 264 is reduced because thatarea is now open to the external, lower-pressure environment through thehole 268. As a result, the pressure on the back side of the pressureplate 264 (the side facing the coil assembly 252) falls below thepressure on the front side of the pressure plate 264 (the side facingthe nozzle assembly 274). This drop in pressure allows the higherpressure on the front side of the pressure plate 264 to move thepressure plate 264 back (from right to left in FIG. 3). This moves thepressure plate 264 and valve gasket 272 away from the nozzle assembly274, allowing the material from the pump 304 to escape into the nozzleassembly 274 for release.

To close the actuator 134 again, the valve seat 216 is de-magnetized.Because the spring 258 pushes the valve plunger 254 towards the pressureplate 264, the tip 256 of the valve plunger 254 eventually contacts thepressure plate 264. In this example, the plunger tip 256 includes agenerally flat surface that covers the second hole 268. Because of thehole 266, this allows the pressure on the back side of the pressureplate 264 to increase and eventually equal or nearly equal the pressureon the front side of the pressure plate 264. Because of this, thepressure plate spring 260 can push the pressure plate 264 back into aposition that blocks the flow of material from the actuator 134.

In this way, the solenoid (coil 202) in the actuator 134 is used tocontrol the pressure behind the pressure plate 264, while the pressureprovided by the pump 304 is used to open the actuator 134. This helps toreduce or eliminate the need for a large metallic plunger, which istypically required to overcome the large force from the pump 304.

Although FIGS. 2A through 2D and FIG. 3 illustrate one example of anactuator 134, various changes may be made to FIGS. 2A through 2D andFIG. 3. For example, while a single first hole 266 and a single secondhole 268 are shown, multiple first or second holes could be used. Also,as noted above, the throttle plate 262 could be omitted if the firsthole 266 in the pressure plate 264 has a suitably small diameter and thesecond hole 268 in the pressure plate 264 has a suitably large diameter.Further, each of the components in the actuator 134 could have anysuitable size, shape, and dimensions. The dimensions of the actuators134 and its components could vary based on the use of the actuator 134,the voltage used in the system 100, or any other or additional designcriteria. In addition, while described as having equal or near equalpressure on both sides of the pressure plate 264 when the actuator 134is closed, any suitable pressure on the back side of the pressure plate264 could be used to maintain the pressure plate 264 in its closedposition (even if not equal or nearly equal to the pressure on the frontside of the pressure plate 264).

FIG. 4 illustrates an example method 400 for controlling a release of amaterial according to this disclosure. The embodiment of the method 400shown in FIG. 4 is for illustration only. Other embodiments of themethod 400 could be used without departing from the scope of thisdisclosure.

The current location of a vehicle or other structure carrying one ormore actuators is identified at step 402. This may include, for example,a GPS receiver 102 or other wireless receiver receiving GPS or othersignals. This may also include the receiver providing the receivedwireless signals to the processing device 104, which can use thewireless signals to identify the location of the vehicle or otherstructure.

The current location of the vehicle or other structure is compared toone or more specified areas at step 406. This could include, forexample, the processing device 104 comparing the current location to a“map” of areas where a material is to be released. The “map” could takeany suitable form, such as an intended path for the vehicle, sets of GPScoordinates, or areas defined by specified boundary lines.

If the current location is within a specified area at step 406, adetermination is made whether material has already been released in thisarea at step 408. This could include, for example, the processing device104 comparing prior determined positions of the vehicle or otherstructure to the current location. If the current location is not withina specified area or if material has already been released at the currentlocation, the method 400 returns to step 402.

Otherwise, the extent to which one or more actuators are to be opened isdetermined at step 410. This may include, for example, the processingdevice 104 or the controller 108 determining whether an actuator 134should be opened and to what extent. The one or more actuators are thenopened and the material is released at step 412. This could include, forexample, the controller 108 providing control signals to the controlmodules 136, which cause the appropriate actuators 134 to open. As longas the vehicle or other structure remains in a specified area at step414, the release of the material can continue. When the vehicle or otherstructure is no longer in a specified area, the one or more actuatorsare closed and the release of the material is stopped at step 416. Thiscould include, for example, the controller 108 providing control signalsto the control modules 136, which cause the appropriate actuators 134 toclose.

Although FIG. 4 illustrates one example of a method 400 for controllinga release of a material, various changes may be made to FIG. 4. Forexample, while shown as a series of steps, various steps in FIG. 4 couldoverlap, occur in parallel, or occur in a different order.

FIG. 5 illustrates an example method 500 for controlling a material flowusing an actuator according to this disclosure. The embodiment of themethod 500 shown in FIG. 5 is for illustration only. Other embodimentsof the method 500 could be used without departing from the scope of thisdisclosure.

Pressure is applied to the first side of a pressure plate at step 502.This could include, for example, a pump 304 supplying one or morematerials under pressure against the first side of the pressure plate264 in the actuator 134. The material could be provided at any suitableelevated pressure. The pressure on the second side of the pressure plateis increased at step 504. This could include, for example, using thefirst hole 266 in the pressure plate 264 to allow the pressure on thesecond side of the pressure plate 264 to increase. At this point, thepressure plate spring 260 maintains the position of the pressure plate264 against the nozzle assembly 274, and the actuator 134 remainsclosed.

To open the actuator, a plunger is moved away from the pressure plate atstep 506. This may include, for example, energizing the coil 202 tomagnetize the valve seat 216, which moves the valve plunger 254 towardsthe valve seat 216. This also exposes the second hole 268 in thepressure plate 264. The pressure on the second side of the pressureplate is reduced at step 508. This may include, for example, allowingthe pressure on the second side of the pressure plate 264 to be reducedbecause that area is now open to the external, lower-pressureenvironment through the second hole 268 of the pressure plate 264. Thehigher pressure on the first side of the pressure plate moves thepressure plate at step 510, allowing material to be released at step512. This may include, for example, the pressure plate 264 moving awayfrom the nozzle assembly 274 due to the higher pressure of the materialprovided by the pump 304. This allows material from the pump 304 toreach the nozzle assembly 274 and be released.

To close the actuator again, the plunger is moved towards the pressureplate at step 514. This may include, for example, de-energizing the coil202 to de-magnetize the valve seat 216. This allows the plunger spring258 to push the valve plunger 254 towards the pressure plate 264,blocking the second hole 268 in the pressure plate 264. Once again, thepressure on the second side of the pressure plate is increased at step516, and the pressure plate is moved into a closed position at step 518.This could include, for example, using the first hole 266 of thepressure plate to allow the pressure on the second side of the pressureplate 264 to increase. This allows the pressure plate spring 260 to pushthe pressure plate 264 back into the nozzle assembly 274, blocking theflow of material into the nozzle assembly 274. As a result, the releaseof material through the nozzle assembly is stopped at step 520.

Although FIG. 5 illustrates one example of a method 500 for controllinga material flow using an actuator, various changes may be made to FIG.5. For example, while shown as a series of steps, various steps in FIG.5 could overlap, occur in parallel, or occur in a different order.

FIG. 6 illustrates an example method 600 for controlling a pump using asimulated vehicle speed according to this disclosure. The embodiment ofthe method 600 shown in FIG. 6 is for illustration only. Otherembodiments of the method 600 could be used without departing from thescope of this disclosure.

A pump controller is set to a particular setpoint for releasing materialat step 602. This could include, for example, programming the controller308 to a specified quantity of material to be sprayed per acre or aspecified quantity of material to be released per unit of distancetraveled. The controller 308 could be programmed in any suitable manner,such as by using the processing device 104.

When release of the material begins, the pump controller controls thepump to ensure that the amount of material being released remains at ornear the setpoint at step 604. For example, the controller 308 typicallyuses a speed of a vehicle (along with other factors such as the width ofthe vehicle) to control the pump 304 so that the appropriate amount ofmaterial is released.

To facilitate this control, the speed of the vehicle is estimated atstep 606. This could include, for example, the controller 108 estimatingthe vehicle's speed using any suitable information, such as informationfrom a speed sensor, a radar gun, a vehicle's speedometer, a GPSreceiver, or any other source. The number of actuators that are openedis determined at step 608. This could include, for example, thecontroller 108 or the processing device 104 monitoring how many of theactuators 134 are currently opened or closed during material release(and/or to what extent the open actuators are opened). Based on this,the estimated speed of the vehicle is adjusted at step 610. This couldinclude, for example, the controller 108 or the processing device 104adjusting the estimated speed of the vehicle based on the percentage ofactuators 134 that are currently opened (and the extent that the openactuators are opened). As a particular example, if one quarter of theactuators 134 are currently shut off (closed), the controller 108 or theprocessing device 104 could reduce the estimated speed of the vehicle by25%. In other words, the controller 108 or the processing device 104reduces the estimated speed by a percentage equal to the percentage ofclosed actuators 134.

The adjusted estimated speed of the vehicle is provided to the pumpcontroller at step 612, which adjusts the operation of the pump based onthe adjusted estimated speed (if necessary) at step 614. This couldinclude, for example, the controller 308 adjusting the amount ofmaterial provided to the pump 304 to compensate for the fact that one ormore actuators 134 are closed.

In this way, the pump controller 308 (which is often pre-programmed touse vehicle speed to control the pump 304 and to assume that allactuators are opened) can be used without modification. Moreover, thevehicle speed can be adjusted by the controller 108 or the processingdevice 104 to take into account the number of actuators 134 currentlyopened or closed, allowing more accurate monitoring and control over theamount of material being released.

Although FIG. 6 illustrates one example of a method 600 for controllinga pump using a simulated vehicle speed, various changes may be made toFIG. 6. For example, while shown as a series of steps, various steps inFIG. 6 could overlap, occur in parallel, or occur in a different order.

FIG. 7 illustrates an example method 700 for assigning addresses tocontrol modules in a system for releasing a material according to thisdisclosure. The embodiment of the method 700 shown in FIG. 7 is forillustration only. Other embodiments of the method 700 could be usedwithout departing from the scope of this disclosure.

Addressing of the control modules in a system is initiated at step 702.This could include, for example, a user using the processing device 104to initiate execution of an application for addressing the controlmodules 136. This could also include the processing device 104 causingthe controller 108 to take certain actions, such as communicating withthe wireless junction 128 or communicating over the token line in thecable 138. This step could be done during installation of the controlmodules 136 or any other suitable time.

The token line is turned on at step 704. This could include, forexample, the wireless junction 128, the controller 108, or theprocessing device 104 communicating a token over the token line in thecable 138 to any of the control modules 136. One of the control modulestakes the token at step 706, and the control module with the token isinformed that it has the first address at step 708. This could include,for example, the wireless junction 128, the controller 108, or theprocessing device 104 informing the control module with the token thatits address is “address #1” or some other suitable value. This can bedone over, for example, communication lines in the cable 138 (such as aCAN bus). At this point, the control module with the token is pinged andvarious activities occur at step 710. This could include, for example,the processing device 104 or the controller 108 pinging the controlmodule 136 that has just received its address using that address. Thecontrol module 136 could identify its current software version, and theprocessing device 104 or the controller 108 could update the software onthe control module 136 if necessary. Note that any other or additionalactions could occur at step 710.

The control module with the token (referred to as the“previously-addressed control module”) turns on the token line at step712, such as by communicating the token over the token line. Another ofthe control modules takes the token at step 714, and thepreviously-addressed control module informs the control module with thetoken that it has the next address at step 716. This could include, forexample, the previously-addressed control module 136 incrementing thevalue of its own address and informing the control module 136 with thetoken that it has the next sequential address. Note that anypreviously-addressed control modules may be prevented from taking thetoken again, thereby helping to ensure that the same control module 136does not receive two different addresses. The control module with thetoken (referred to as the “newly-address control module”) is then pingedand various activities can occur at step 718. This could allow theprocessing device 104 or the controller 108 to update the software onthe newly-address control module 136 or to perform any other oradditional actions.

If any unaddressed control modules remain at step 720, the processreturns to step 712 (where the newly-address control module becomes thepreviously-address control module and passes on the token to anunaddressed control module). The total number of control modules may beknown in advance to the processing device 104 or the controller 108, sostep 720 could include determining whether all of the expected number ofcontrol modules have been addressed.

In this way, the addressing may proceed from one control module 136 tothe next, where each control module (except the last one) identifies theaddress of the next control module. Note that this process could beperformed multiple times, such as when the process is performed once forthe control modules 136 on each of multiple booms on a vehicle.

Although FIG. 7 illustrates one example of a method 700 for assigningaddresses to control modules in a system for releasing a material,various changes may be made to FIG. 7. For example, while shown as aseries of steps, various steps in FIG. 7 could overlap, occur inparallel, or occur in a different order.

FIG. 8 illustrates an example control module 136 according to thisdisclosure. The embodiment of the control module 136 shown in FIG. 8 isfor illustration only. Other embodiments of the control module 136 couldbe used without departing from the scope of this disclosure.

As shown here, the control module 136 includes a controller 802, whichcontrols the overall operation of the control module 136. For example,the controller 802 may receive data over the cable 138, such as controlsignals instructing the control module 136 to open or close itsactuators 134. The controller 802 could also receive data over the cable138 related to the addressing of the control modules 136. The controller802 could further perform operations to obtain an address and totransmit data related to its address. The controller 802 includes anyhardware, software, firmware, or combination thereof for controllingoperation of the control module 136. As particular examples, thecontroller 802 could represent a processor, microprocessor,microcontroller, field programmable gate array, or other processing orcontrol device.

A memory 804 is coupled to the controller 802. The memory 804 stores anyof a wide variety of information used, collected, or generated by thecontrol module 136. For example, the memory 804 could store informationreceived over the cable 138 or information to be transmitted over thecable 138. The memory 804 could also the address of the control module136. The memory 804 could further store instructions executed by thecontroller 802. The memory 804 includes any suitable volatile and/ornon-volatile storage and retrieval device(s).

A bus driver 806 facilitates communications over a bus, such as thecable 138. The bus driver 806 could, for example, operate to seize atoken during addressing of the control modules 136 and to transmit dataover the cable 138 using a specified protocol. The bus driver 806includes any suitable structure(s) for communicating over one or morecommunication links.

Power circuitry 808 provides operating power to the other components ofthe control module 136. For example, the power circuitry 808 couldreceive power from an external source, such as from the power bus 126 orthe cable 138. The power circuitry 808 could then condition or otherwiseprocess the power for use by the control module 136. The power circuitry808 includes any suitable structure(s) for providing power, such as oneor more field effect transistors (for switching power), a powerregulator, and a power filter.

Although FIG. 8 illustrates one example of a control module 136, variouschanges may be made to FIG. 8. For example, various components in FIG. 8could be combined, subdivided, or omitted and additional componentscould be added according to particular needs.

In some embodiments, various functions described above are implementedor supported by a computer program that is formed from computer readableprogram code and that is embodied in a computer readable medium. Thephrase “computer readable program code” includes any type of computercode, including source code, object code, and executable code. Thephrase “computer readable medium” includes any type of medium capable ofbeing accessed by a computer, such as read only memory (ROM), randomaccess memory (RAM), a hard disk drive, a compact disc (CD), a digitalvideo/versatile disc (DVD), or any other type of memory.

It may be advantageous to set forth definitions of certain words andphrases used in this patent document. The terms “include” and“comprise,” as well as derivatives thereof, mean inclusion withoutlimitation. The term “or” is inclusive, meaning and/or. The phrases“associated with” and “associated therewith,” as well as derivativesthereof, may mean to include, be included within, interconnect with,contain, be contained within, connect to or with, couple to or with, becommunicable with, cooperate with, interleave, juxtapose, be proximateto, be bound to or with, have, have a property of, or the like. The term“controller” means any device, system, or part thereof that controls atleast one operation. A controller may be implemented in hardware,firmware, or software, or a combination of at least two of the same. Itshould be noted that the functionality associated with any particularcontroller may be centralized or distributed, whether locally orremotely.

While this disclosure has described certain embodiments and generallyassociated methods, alterations and permutations of these embodimentsand methods will be apparent to those skilled in the art. Accordingly,the above description of example embodiments does not define orconstrain this disclosure. Other changes, substitutions, and alterationsare also possible without departing from the spirit and scope of thisdisclosure, as defined by the following claims.

What is claimed is:
 1. A method comprising: receiving a token over atoken line at a first control module that has not yet been assigned afirst address for communications over a communication line, the firstcontrol module configured to control one or more first actuators; inresponse to receiving the token, receiving the first address for thefirst control module; using the first address for communicationsinvolving the first control module over the communication line;receiving a ping directed to the first address over the communicationline while the first control module has the token, the ping including arequest to identify a current software version of the first controlmodule; providing the token over the token line to a second controlmodule that has not yet been assigned a second address forcommunications over the communication line, the second control moduleconfigured to control one or more second actuators; identifying thesecond address for the second control module; and providing the secondaddress to the second control module in response to the second controlmodule receiving the token.
 2. The method of claim 1, furthercomprising: using the second address at the second control module forcommunications over the communication line; receiving a second pingdirected to the second address over the communication line while thesecond control module has the token, the second ping including a requestto identify a current software version of the second control module;providing the token over the token line to a third control module thathas not yet been assigned a second address for communications over thecommunication line; identifying the third address for the third controlmodule; and providing the third address to the third control module inresponse to the third control module receiving the token.
 3. The methodof claim 2, further comprising preventing the first control module fromreceiving the token from the second control module.
 4. The method ofclaim 1, wherein identifying the second address comprises incrementingthe first address to produce the second address.
 5. The method of claim1, further comprising: communicating a current software versionassociated with the first control module in response to the ping.
 6. Themethod of claim 5, further comprising: receiving a software update inresponse to the communication of the identified current softwareversion.
 7. The method of claim 1, further comprising: receiving controlsignals at the first control module, the control signals directed to thefirst control module using the first address; and opening and closingthe first actuators based on the control signals.
 8. A systemcomprising: multiple actuators configured to release a material;multiple control modules configured to control the actuators; and atoken line and a communication line coupling the control modules;wherein a first of the control modules is configured to: receive a tokenover the token line while the first control module has not yet beenassigned a first address for communications over the communication line;in response to receiving the token, receive the first address for thefirst control module; use the first address for communications over thecommunication line; receive a ping directed to the first address overthe communication line while the first control module has the token, theping including a request to identify a current software version of thefirst control module; provide the token over the token line to a secondof the control modules while the second control module has not yet beenassigned a second address for communications over the communicationline; identify the second address for the second control module; andprovide the second address to the second control module.
 9. The systemof claim 8, wherein the first control module is prevented from receivingthe token after the first control module has received the first address.10. The system of claim 8, wherein the first control module isconfigured to identify the second address by incrementing the firstaddress received by the first control module.
 11. The system of claim 8,further comprising: at least one of a controller, a processing device,and a wireless junction configured to generate the ping.
 12. The systemof claim 8, wherein the first control module is further configured to:communicate its current software version in response to the ping; andreceive a software update in response to the communication of theidentified current software version.
 13. The system of claim 8, furthercomprising: a controller configured to provide control signals to thecontrol modules, the control modules configured to open and close theactuators based on the control signals.
 14. The system of claim 13,further comprising: a wireless receiver configured to receive wirelesspositioning signals; and a processing device configured to determine aposition associated with the actuators based on the wireless positioningsignals and to determine whether to open or close the actuators based onthe determined position; wherein the controller is configured to providethe control signals to the control modules based on signals from theprocessing device.
 15. The system of claim 14, wherein the processingdevice is configured to determine whether to open or close the actuatorsby determining whether the material has already been released at thedetermined position.
 16. The system of claim 14, wherein the controlleris further configured to: estimate a speed of a vehicle on which thesystem is being used; and provide the control signals to the controlmodules based on the speed of the vehicle.
 17. An apparatus comprising:a first controller configured to: control one or more first actuators;receive a token over a token line while the first controller has not yetbeen assigned a first address for communications over a communicationline; receive the first address for the first controller in response toreceiving the token; use the first address for communications over thecommunication line; receive a ping directed to the first address overthe communication line while the first control module has the token, theping including a request to identify a current software version of thefirst control module; provide the token over the token line to a secondcontroller that has not yet been assigned a second address forcommunications over the communication line, the second controllerconfigured to control one or more second actuators; identify the secondaddress for the second controller; and provide the second address to thesecond controller; and at least one interface configured to communicateover the token and communication lines.
 18. The apparatus of claim 17,wherein the first controller cannot obtain the token from the secondcontroller.
 19. The apparatus of claim 17, wherein the first controlleris configured to identify the second address by incrementing the firstaddress.
 20. The apparatus of claim 17, wherein the first controller isfurther configured to: communicate a current software version associatedwith the apparatus in response to the ping; and receive a softwareupdate in response to the communication of the identified currentsoftware version.
 21. The apparatus of claim 17, wherein the firstcontroller is further configured to: receive control signals directed tothe first address; and open and close the one or more first actuatorsbased on the control signals.